Command-Filtered Yaw Stability Control of Vehicles with State Constraints
Year: 2025
Type: article
Abstract: Yaw stability control is crucial for ensuring the driving safety of intelligent vehicles. This paper proposes a state-constrained command-filtered control (CFC) approach for vehicle yaw stability. The proposed method employs a barrier Lyapunov function (BLF) to effectively constrain the vehicle’s sideslip angle and yaw rate, thereby enhancing system stability and safety. Meanwhile, a command-filtered control strategy is introduced to reduce computational complexity, and an error compensation mechanism is incorporated to mitigate the adverse effects of filter-induced errors on system performance. To validate the effectiveness and robustness of the proposed method, simulations are conducted under different road adhesion conditions and driving speeds. The results demonstrate that the proposed control approach effectively suppresses both understeer and oversteer phenomena, significantly improving vehicle handling stability. This study provides theoretical support and practical insights for the engineering application of yaw stability control in intelligent vehicles.
Source: Actuators
DOI: 10.3390/act14030148
Authors: Lizhe Wu, Zhenhua Liu, Dingxuan Zhao
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W4408529178